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Is it possible to make a crusade move in the same fashion as agents do between ports? Can we make a crusade move between allied ports, thus making crusades move in a more realistic fashion, instead of hiking 6-9 years across europe and depleting elite units?
They already do to some extent. As long as the port you are in has ships of that faction that connect to another port that is closer, you can use the sea route. The AI does this. It is limited by the need for a chain of ships (trade route). Presently you can't jump from any port to any other port like a StarGate. Agents are different in that they wouldn't have trouble gaining passage as individuals through some means or another in various foreign ports. Armies on the other hand require real logistics. Not sure which you were asking about (trade route type connection or "StarGate" effect).
I want them to function as agents (not needing a chain of ships)
Doubt that is possible because agent vs. army movement is all hard coded as best I can tell. The only thing that has editable strategic map movement is a ship.